CN111457918B - Continuous miner navigation and positioning system based on multi-sensor information fusion - Google Patents
Continuous miner navigation and positioning system based on multi-sensor information fusion Download PDFInfo
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- CN111457918B CN111457918B CN202010369999.2A CN202010369999A CN111457918B CN 111457918 B CN111457918 B CN 111457918B CN 202010369999 A CN202010369999 A CN 202010369999A CN 111457918 B CN111457918 B CN 111457918B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention discloses a continuous miner navigation and positioning system based on multi-sensor information fusion. The invention provides a continuous miner navigation and positioning system taking laser directional navigation guidance of a double laser transmitter and a single laser receiver as a main part and taking real-time pose calculation, offset measurement, driving mileage statistics and feedback regulation mechanisms of an ultrasonic sensor, an inclination sensor and a photoelectric odometer as auxiliary parts, wherein the real-time pose calculation, offset measurement, driving mileage statistics and feedback regulation mechanisms are taken as the main part. The intelligent navigation and directional control of the continuous miner are realized by establishing communication connection between the signals output in the information fusion set of the multiple sensors and the main system of the continuous miner, and the lane accuracy is +/-10 cm/50m finally, so that the flatness of the lane is ensured.
Description
Technical Field
The invention relates to the technical field of navigation and positioning, in particular to a continuous miner navigation and positioning system based on multi-sensor information fusion.
Background
The continuous miner is mainly applied to room and pillar mining, corner coal recovery and rapid tunneling of a long-wall mined coal mine, and the roller length is relatively small in the working process of the continuous miner, so that the continuous miner does not form a roadway once. When the width of the tunneling roadway is larger than the length of the roller, the continuous miner is required to transversely move in the roadway, so that full-section cutting can be realized, a certain degree of deflection can occur when the continuous miner transversely moves, the continuous miner works under the condition, so that the flatness of section forming is poor, the machine body deviates from a correct course, the roadway forming quality and the coal mining working efficiency are seriously influenced, and the ideal roadway forming effect cannot be achieved.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide a continuous miner navigation and positioning system based on multi-sensor information fusion. The continuous miner navigation and positioning system mainly comprises laser directional guide of a double laser transmitter and a single laser receiver and assisted by pose resolving, offset measuring and feedback adjusting mechanisms of an ultrasonic sensor and an inclination sensor. The laser receiver receives laser emitted by a laser emitter fixedly arranged in a roadway side wall area, and the continuous miner performs directional cutting under the guidance of the laser. The ultrasonic ranging sensor, the inclination angle sensor and the photoelectric odometer are arranged on the continuous miner, the offset, the deflection angle alpha and the pitch angle beta of the continuous miner are detected in real time, and the driving mileage is counted. And (5) calculating the pose of the continuous miner through a built-in algorithm of the system. The information fusion of the multiple sensors outputs feedback adjusting signals to carry out intelligent navigation and directional adjustment control on the continuous miner through establishing communication connection with a main system of the continuous miner.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a continuous miner navigation and positioning system based on multi-sensor information fusion comprises a laser directional guiding part of a double laser transmitter and a single laser receiver, and a real-time detection part for offset, attitude angle measurement and driving mileage statistics, wherein the offset, attitude angle measurement and driving mileage statistics are formed by an ultrasonic ranging sensor, an inclination sensor and a photoelectric odometer.
The double laser transmitters are two independent laser transmitters and are respectively and fixedly placed at positions in the roadway, which are away from the two sides of the roadway, by a certain distance and are in an Xmm range.
Further, when the distance between the continuous miner and any side wall is within the area range of Ymm, the laser transmitter positioned in the side area emits laser towards the standard direction of the working cutting roadway of the continuous miner, and the continuous miner is guided directionally.
The single laser receiver is arranged in the box body and fixedly arranged at the middle position of the upper side of the rear side frame of the continuous miner together with the box body, receives laser emitted by the laser emitter, the transverse laser receiving range of the single laser receiver is 200mm, and the laser receiver carries out navigation and directional guidance on the continuous miner within the range of the received laser.
The ultrasonic ranging sensors are eight, are respectively arranged on two sides of the continuous miner, are four on each side, and are arranged at the side ends of the continuous miner in a rectangular mode.
Further, each ultrasonic ranging sensor respectively measures the distance from the position point of the sensor to the roadway side wall, and detects the offset of the continuous miner in real time.
Furthermore, the data measured by each ultrasonic sensor ranging sensor uses an algorithm built in the system to calculate the roll and deflection attitude angles of the continuous miner, and the calculation process of the calculation algorithm is as follows:
(1) Establishing a coordinate system, taking the central axis direction of a standard roadway as the X-axis direction of the coordinate system, the transverse direction of the roadway as the Y-axis direction of the coordinate system, the vertical direction of the roadway as the Z-axis direction of the coordinate system, wherein the Y-axis and the Z-axis of the coordinate system form a YOZ plane, the X-axis and the Y-axis of the coordinate system form an XOY plane, setting variable data which can be measured by a sensor, and taking distances from ultrasonic ranging sensors with different numbers to the roadway side wall as d i (i=1~8)d 1 、d 2 、d 3 、d 4 、d 5 、d 6 、d 7 、d 8 The distance is a space vector, the measurement accuracy of the data is +/-9 mm, the distance between the sensors in the vertical direction is H, the transverse distance between the sensors is B, and the pitch angle and the deflection angle measured by the inclination sensor are respectively an angle beta and an angle gamma;
(2) The deflection angle gamma is calculated by first usingThe projection distance d of each distance on the YOZ plane is obtained from each distance measured by the ultrasonic ranging sensor i ’ Using the actual measured distance d i (i=1 to 8) times the angle between the spatial distance vector and the YOZ planeφThe included angle phi between the space vector distance and the YOZ plane is obtained according to the relation between the triangle sides formed by the difference between the distance between the front sensor and the rear sensor and the space vector distance between the front sensor and the rear sensor at the same level, each projection distance is obtained, the relation between the projection distance and other relevant distances is established, and the deflection angle of the continuous miner is calculatedγThe calculation is carried out, and the solving and calculating process is as follows:
the included angle phi between the space distance vector and the YOZ surface is as follows:
i in the above formulas is i=2, 4,6 and 8, and finally the deflection attitude angle of the continuous miner is obtained as follows:
in practical situations, the deflection angle of the whole machine in the attitude angle of the continuous miner can be correspondingly solved for four times through the data measured by the ultrasonic ranging sensor, in theoretical situations, the four solved results are completely the same, and the average value calculated for four times is taken as the system output value of the attitude deflection angle of the whole machine of the continuous miner in consideration of the error;
(3) The roll angle alpha is calculated by first calculating the projection distance d of each distance on the XOY plane by using each distance measured by the ultrasonic ranging sensor i ＇＇ Using the actual measured distance d i (i=1~8)d 1 、d 2 、d 3 、d 4 、d 5 、d 6 、d 7 、d 8 Multiplying the space distance vector by the included angle theta between the space vector and the XOY plane, wherein the included angle theta between the space vector distance and the XOY plane is obtained according to the relation between the distance between the upper sensor and the lower sensor adjacent to each other and the difference between the space vector distances of the two sensors, and the obtained projection distances calculate the roll angle alpha of the continuous miner, and the solving and solving process is as follows:
the included angle θ between the spatial distance vector and the XOY plane is:
i in the above formulas is i=2, 3,6 and 7, and finally the roll attitude angle of the continuous miner is obtained as follows:
in practical situations, the roll angle of the whole machine in the attitude angle of the continuous miner can be solved correspondingly for four times through the data measured by the ultrasonic ranging sensor, in theoretical situations, the four solved results are completely the same, and in consideration of error reasons, the average value calculated for four times is taken as the system output value of the roll attitude angle of the whole machine of the continuous miner.
The ultrasonic ranging sensor measures the offset in each direction of the continuous miner.
The photoelectric odometer is arranged on crawler travelling systems at two sides of the continuous miner, can directly realize the statistics of the travelling mileage in the working process of the continuous miner, and is recorded in the system of the continuous miner, wherein the travelling mileage is recorded as S.
The inclination sensor is arranged in a box body provided with the laser receiver, is a two-axis sensor, and can realize real-time auxiliary measurement of the pitching angle beta and the deflection angle gamma of the continuous miner.
The system method and principle of the invention are as follows:
the invention provides a continuous miner navigation and orientation system based on multi-sensor information fusion, which is realized by the method and principle that the continuous miner forwards advances when cutting, when the continuous miner approaches to the range of Ymm on any side of a roadway, a laser transmitter fixedly arranged in the area near the side of the roadway emits laser, at the moment, a laser receiver arranged in the middle position above a rear side frame of the continuous miner receives the laser emitted by the laser transmitter, the laser receiver has a laser receiving range of 200mm, and after the laser receiver receives a laser signal, an instruction is given to a control system of the continuous miner, so that the continuous miner realizes the navigation and orientation of the continuous miner under the guidance of the laser. When the range of the two sides Ymm of the roadway deviates, the laser transmitter and the laser receiver stop working, the ultrasonic ranging sensor, the inclination angle sensor and the photoelectric odometer are all in working states in the whole working process of the continuous miner, the offset of the continuous miner is measured in real time, and the offset and the overall pose of the continuous miner can be measured in real time and transmitted in real time. The ultrasonic ranging sensors are arranged on two sides of the continuous miner, the vector distance from the position of the sensor to a roadway is detected in real time, and the position and the posture of the continuous miner are resolved by a system algorithm according to the distance data measured by each ultrasonic ranging sensor, so that the roll angle alpha and the deflection angle gamma of the whole miner are resolved. The inclination angle sensor is used for carrying out auxiliary measurement on the pitch angle beta and the deflection angle gamma of the whole machine of the continuous miner, the photoelectric odometer arranged on the crawler travelling systems at the two sides is used for counting the travelling mileage of the continuous miner, and finally, the information fusion output feedback signals of the multiple sensors are communicated with the main system of the continuous miner, so that the continuous miner is correspondingly regulated and guided and oriented controlled.
The invention has the following advantages:
(1) When the distance between the two sides of the roadway is Ymm, accurate navigation and orientation can be carried out on the roadway forming process of the continuous miner, the device offset real-time measurement and transmission functions are realized, the detection precision is +/-9 mm, the resolution is 3mm, the device attitude angle real-time detection and transmission functions are realized, the detection precision of each attitude angle is +/-0.3 degrees, the system detection error does not need manual correction and calibration, the roadway forming precision is high, and the forming precision is +/-10 cm/50m;
(2) When the range of the two sides Ymm of the roadway deviates, the laser transmitter and the laser receiver stop working, the ultrasonic ranging sensor, the inclination angle sensor and the photoelectric odometer are all in working states in the whole working process of the continuous miner, the offset of the continuous miner is measured in real time, the attitude angle is calculated, the driving mileage is counted, the offset detection precision is +/-10 cm, the resolution is 3cm, the detection precision of the roll angle and the pitch angle is +/-0.3 degrees, and the detection precision of the deflection angle is +/-2.5 degrees;
(3) The driving mileage of the continuous miner can be counted. The device can be correspondingly adjusted and installed according to actual conditions, and has strong implementation and operability.
Drawings
FIG. 1 is a schematic diagram of the overall arrangement of a continuous miner navigation and centering system based on multi-sensor information fusion;
FIG. 2 is a schematic diagram of a lateral movement working state of a continuous miner navigation and positioning system based on multi-sensor information fusion;
FIG. 3 is a schematic view showing the range of left and right side walls Ymm of a deviated roadway of a continuous miner navigation and positioning system based on multi-sensor information fusion;
FIG. 4 is a schematic diagram of a continuous miner navigation and positioning system based on multi-sensor information fusion in the range of a left side wall Ymm of a roadway;
FIG. 5 is a schematic diagram of a continuous miner navigation and positioning system based on multi-sensor information fusion in the right side wall Ymm of the roadway.
The system comprises 1-8 ultrasonic ranging sensors, 9, 10 laser transmitting sensors, 11 laser receiving sensors, 12 inclination angle sensors, 13, 14 photoelectric odometers, 15 continuous miner, 16 roadway right side edges, 17 roadway left side edges, 18 right side lasers and 19 left side lasers.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 5 of the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, modifications, equivalents, improvements, etc., which are apparent to those skilled in the art without the benefit of this disclosure, are intended to be included within the scope of this invention.
Referring to fig. 1 to 5, a continuous miner navigation and positioning system based on multi-sensor information fusion of the present invention is mainly applicable to navigation and positioning of continuous miner in roadway cutting operation, but not limited to the continuous miner navigation and positioning.
As shown in fig. 1 to 5, ultrasonic ranging sensors (1-8) are respectively arranged on two sides of a continuous miner (15) close to left and right side edges (16, 17) of a roadway, a laser emission sensor (9) and a laser emission sensor (10) are respectively arranged at positions of Xmm away from the left and right side edges (16, 17) of the roadway, a laser receiving sensor (11) and an inclination sensor (12) are respectively arranged at an intermediate position above a rear side frame of the continuous miner (15), photoelectric odometers (13, 14) are respectively arranged on left and right crawler traveling systems of the continuous miner (15), and lasers emitted by the laser emission sensors (9, 10) are respectively left and right lasers (18, 19).
When the continuous miner (15) cuts, corresponding transverse movement can be carried out on the transverse width of the roadway, the continuous miner also correspondingly advances in the longitudinal direction of the roadway, in the whole working process, when the left side wall (16) and the right side wall (17) of the roadway are nearby (when within the range of Ymm), the laser emission sensors (9, 10) positioned on the side start to emit laser (18, 19), the continuous miner (15) cuts are guided and directed, and the ultrasonic ranging sensors (1-8), the inclination angle sensor (12) and the photoelectric odometer (13, 14) are all in working states within the whole width range of the roadway.
When the continuous miner (15) deviates from left and right sides (16, 17) (Ymm range) of the roadway, laser emitted by the laser emission sensors (9, 10) cannot be projected onto the laser receiving sensor (11) of the continuous miner, at the moment, the laser navigation system stops working, the distance between the continuous miner (15) and the left and right sides (16, 17) of the roadway is detected by 8 ultrasonic sensors (1-8) arranged on two sides of the continuous miner (the working accuracy of the ultrasonic sensors is verified in the pit), pose calculation is performed on information acquired by the 8 ultrasonic sensors (1-8) through a system algorithm, and the pose information of the continuous miner (15) can be obtained, wherein the calculation algorithm comprises the following steps:
(1) Establishing a coordinate system, taking the central axis direction of a standard roadway as the X-axis direction of the coordinate system, the transverse direction of the roadway as the Y-axis direction of the coordinate system, the vertical direction of the roadway as the Z-axis direction of the coordinate system, wherein the Y-axis and the Z-axis of the coordinate system form a YOZ plane, and the X-axis and the Y-axis of the coordinate system form an XOY plane. Setting variable data which can be measured by the sensors, and taking the distances to the roadway side walls measured by the ultrasonic ranging sensors (1-8) with the numbers as d i (i=1~8)d 1 、d 2 、d 3 、d 4 、d 5 、d 6 、d 7 、d 8 The distance is a space vector, the measurement accuracy of the data is +/-9 mm, the distance between the sensors in the vertical direction is H, the transverse distance between the sensors is B, and the pitch angle and the deflection angle measured by the inclination sensor are respectively an angle beta and an angle gamma;
(2) The deflection angle gamma is obtained by first obtaining the projection distance d of each distance on the YOZ plane by using each distance measured by the ultrasonic ranging sensors (1-8) i ’ Using the actual measured distance d i (i=1 to 8) times the angle between the spatial distance vector and the YOZ planeφThe included angle phi between the space vector distance and the YOZ plane is obtained according to the relation between the triangle sides formed by the difference between the distance between the front sensor and the rear sensor and the space vector distance between the front sensor and the rear sensor at the same level, each projection distance is obtained, the relation between the projection distance and other relevant distances is established, and the deflection angle of the continuous miner is calculatedγThe calculation is carried out, and the solving and calculating process is as follows:
the included angle phi between the space distance vector and the YOZ surface is as follows:
taking i=2, 4,6,8 in the above formulas, and finally obtaining the deflection attitude angle of the continuous miner (15) as follows:
in actual conditions, the deflection angle of the whole machine in the attitude angle of the continuous miner (15) can be correspondingly solved four times through the data measured by the ultrasonic ranging sensors (1-8), under ideal conditions, the four solved results are completely the same, and the average value calculated four times is taken as the system output value of the attitude deflection angle of the whole machine of the continuous miner (15) in consideration of error reasons;
(3) The roll angle alpha is obtained by first obtaining the projection distance d of each distance on the XOY plane by using each distance measured by the ultrasonic ranging sensors (1-8) i ＇＇ Using the actual measured distance d i (i=1~8)d 1 、d 2 、d 3 、d 4 、d 5 、d 6 、d 7 、d 8 Multiplying the space distance vector by the included angle theta between the space vector and the XOY plane, wherein the included angle theta between the space vector distance and the XOY plane is obtained according to the relation between the distance between the upper sensor and the lower sensor adjacent to each other and the difference between the space vector distances of the two sensors, and the obtained projection distances calculate the roll angle alpha of the continuous miner (15) and the solving and calculating process is as follows:
the included angle θ between the spatial distance vector and the XOY plane is:
taking i=2, 3,6,7 in the above formulas, and finally obtaining the roll attitude angle of the continuous miner (15) as follows:
in practical situations, the roll angle of the whole machine in the attitude angle of the continuous miner (15) can be solved correspondingly four times through the data measured by the ultrasonic ranging sensors (1-8), under ideal conditions, the four solved results are completely the same, and the average value calculated four times is taken as the system output value of the roll attitude angle of the whole machine of the continuous miner (15) in consideration of error reasons.
When the continuous miner (15) is positioned on the left side wall (17) of the roadway (within the range of the left side wall Ymm of the roadway), the laser (19) emitted by the laser emission sensor (9) can be received by the laser receiving sensor (11) on the continuous miner (15), and at the moment, the continuous miner (15) can perform navigation under the guidance of the laser emission sensor (9), and the positioning precision of the continuous miner (15) on the left side wall (17) of the roadway is +/-5 cm.
When the continuous miner (15) works near the right side wall (16) of the roadway (within a range from the right side wall Ymm), the laser (18) emitted by the laser emission sensor (10) can be received by the laser receiving sensor (11) on the continuous miner (15), as shown in fig. 5, and the continuous miner performs navigation and directional cutting under the guidance of the laser emission sensor (10), so that the positioning precision of the continuous miner (15) on the right side wall (16) of the roadway is +/-5 cm.
The mounting positions of the laser emission sensor (9) and the laser emission sensor (10) are fixed, and the positioning precision of the continuous miner (15) on the left side and the right side of a tunneling roadway is ensured to be +/-5 CM, so that the section forming precision of the whole roadway can be ensured to be +/-10 CM under the guidance of the double laser emission sensors (9, 10).
The foregoing description of the embodiments of the invention has been presented for the purpose of illustration and description, and is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (5)
1. A continuous miner navigation and positioning system based on multi-sensor information fusion is characterized in that: the continuous miner navigation and positioning system mainly uses laser directional guidance of a double laser transmitter and a single laser receiver, and uses pose resolving, offset measuring, driving mileage statistics and feedback adjustment mechanisms of an ultrasonic ranging sensor, an inclination sensor and a photoelectric odometer as auxiliary continuous miner navigation and positioning systems, wherein signals which are integrated and output by multiple sensors are communicated with a miner host control system to perform intelligent navigation and positioning control on the continuous miner; the system internal resolving algorithm comprises the following specific resolving methods and steps:
(1) Establishing a coordinate system, wherein the central axis direction of a standard roadway is taken as the X-axis direction of the coordinate system, the transverse direction of the roadway is taken as the Y-axis direction of the coordinate system, the vertical direction of the roadway is taken as the Z-axis direction of the coordinate system, the Y-axis and the Z-axis of the coordinate system form a YOZ plane, and the X-axis and the Y-axis of the coordinate system form an XOY plane; setting variable data which can be measured by a sensor, and taking out each numberThe distance between the acoustic ranging sensor and the roadway side wall is d i ，i＝1～8，d 1 、d 2 、d 3 、d 4 、d 5 、d 6 、d 7 、d 8 The distance is a space vector, the measurement accuracy of the data is +/-9 mm, the distance between the sensors in the vertical direction is H, the transverse distance between the sensors is B, and the pitch angle and the deflection angle measured by the inclination sensor are respectively an angle beta and an angle gamma;
(2) The deflection angle gamma is obtained by first obtaining the projection distance d of each distance on the YOZ plane by using each distance measured by an ultrasonic ranging sensor i ' using the actual measured distance d i I=1 to 8, multiplied by the included angle phi between the spatial distance vector and the YOZ plane; the included angle phi between the space distance vector and the YOZ plane is obtained according to the relation between the distance between the front sensor and the rear sensor which are positioned on the same level and the side of the triangle formed by the difference between the space vector distances of the front sensor and the rear sensor, each projection distance is obtained, the relation between the projection distance and other relevant distances is established, the deflection angle gamma of the continuous miner is calculated, and the solving and calculating process is as follows:
the included angle phi between the space distance vector and the YOZ surface is as follows:
d i ′＝d i ×cosφ
i in the above formulas is i=2, 4,6 and 8, and finally the deflection attitude angle of the continuous miner is obtained as follows:
in practical situations, the deflection angle of the whole machine in the attitude angle of the continuous miner is solved correspondingly for four times according to the data measured by the ultrasonic ranging sensor, and in an ideal state, the four solved results are completely the same, and the average value calculated for four times is taken as the system output value of the attitude deflection angle of the whole machine of the continuous miner in consideration of the error;
(3) The roll angle alpha is calculated by first calculating the projection distance d of each distance on the XOY plane by using each distance measured by the ultrasonic ranging sensor i "; using the actual measured distance d i I=1 to 8, multiplied by the angle θ between the spatial distance vector and the XOY plane; the included angle phi between the space vector distance and the XOY plane is obtained according to the relation between the distance between the upper sensor and the lower sensor adjacent to each other and the difference between the space vector distances of the two sensors, the obtained projection distances calculate the roll angle alpha of the continuous miner, and the solving and calculating process is as follows:
the included angle θ between the spatial distance vector and the XOY plane is:
d i+1 ″＝d i+1 ×cosθ
i in the above formulas is i=2, 3,6 and 7, and finally the roll attitude angle of the continuous miner is obtained as follows:
in practical situations, the roll angle of the whole machine in the attitude angle of the continuous miner is correspondingly solved for four times according to the data measured by the ultrasonic ranging sensor, and in an ideal state, the four solved results are completely the same, and the average value calculated for four times is taken as the system output value of the roll attitude angle of the whole machine of the continuous miner in consideration of the error; the ultrasonic ranging sensor is used for measuring the offset of the continuous miner; the photoelectric odometer is used for carrying out statistics record on the driving mileage of the continuous miner in the working process of the continuous miner and recording the driving mileage as mileage S; the inclination angle sensor is used for carrying out corresponding auxiliary measurement on the pitch angle beta and the deflection angle Y of the continuous miner.
2. A continuous miner navigation and localization system based on multi-sensor information fusion as set forth in claim 1, wherein: the double laser transmitters are two laser transmitters which are respectively and fixedly arranged at a certain distance Xmm away from the left side wall and the right side wall of the roadway, the single laser receiver is a laser signal receiver which is arranged in the box body and is arranged at the middle position on the rear side frame of the continuous-selling coal mining machine together with the box body, the transverse laser receiving range of the laser receiver is 200mm, and when the position distance X between the two laser transmitters fixed in the roadway is determined by the middle position of the laser receiver which can receive laser and is irradiated by laser emitted by the laser transmitter when the front side roller of the continuous-mining machine clings to the side wall of the roadway.
3. A continuous miner navigation and localization system based on multi-sensor information fusion as claimed in claim 2, wherein: when the side of the continuous miner is in the range of Ymm from any side of the roadway, the Y value is determined by the width of the roadway and the width of the continuous miner, a laser emission sensor positioned in the side area emits laser, a laser receiver positioned in the middle position on a rear frame of the continuous miner receives laser signals emitted by a laser emitter, the continuous miner performs navigation and directional cutting work along the direction of the laser signals, the forming precision of the section of the single-side roadway can reach +/-5 cm/50m, and when the side distance of the continuous miner deviates from Ymm from any side of the roadway, a laser orientation system formed by the laser emitter and the laser receiver stops working.
4. A continuous miner navigation and localization system based on multi-sensor information fusion as set forth in claim 1, wherein: the method comprises the steps that 8 ultrasonic ranging sensors are respectively arranged on two sides of a continuous miner, 4 ultrasonic ranging sensors are respectively arranged on each side in a rectangular mode, one ultrasonic ranging sensor is respectively arranged on the upper part and the lower part of the front end of each side, one ultrasonic ranging sensor is respectively arranged on the upper part and the lower part of the rear end of each side, the distance and the offset between the sensor position on the side of the continuous miner and the roadway side are detected in real time, the inclination sensors are commonly arranged in a box body provided with a laser receiver, the pitch angle beta and the deflection angle gamma of the continuous miner are measured, two photoelectric odometers are respectively arranged on crawler travelling systems on the two sides of the continuous miner, the running mileage of the continuous miner is counted, the measured data are subjected to solution analysis through a solution algorithm in the system, the transverse rolling angle alpha and the deflection angle gamma of the continuous miner are obtained, the overall process posture and the position of the continuous miner are detected in real time, the detection accuracy is +/-9 mm, the resolution is 3mm, and the detection accuracy of the attitude angle is +/-0.3 DEG within the range of a roadway Ymm; when the distance deviates from a roadway Ymm, the distance detection precision is +/-10 cm, the resolution is 3cm, the detection precision of a roll angle is +/-0.3 degrees, the detection precision of a pitch angle is +/-0.3 degrees, and the detection precision of a deflection angle is +/-2.5 degrees.
5. A continuous miner navigation and localization system based on multi-sensor information fusion as set forth in claim 4, wherein: the data calculated by the pose resolving algorithm is updated in real time along with the change of the working state of the continuous miner, and is in communication connection with a control system of a main machine of the continuous miner, intelligent navigation and directional control are carried out on the continuous miner, the offset and the pose angle of the continuous miner are detected in real time, and an adjustment instruction is made to guide the continuous miner to cut directionally.
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| CN202010369999.2A CN111457918B (en) | 2020-05-06 | 2020-05-06 | Continuous miner navigation and positioning system based on multi-sensor information fusion |
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